A tension field replacement and pulling mechanical arm based on tension wire laying construction

Abstract

The present invention discloses a tension field disc-changing and pulling manipulator based on tension wire laying construction, comprising a base, a manipulator unit, and an end-effector. The manipulator unit comprises a support rod and a rotary bearing provided at the upper end of the support rod, the rotary bearing being provided with an electric cylinder articulated support, a main arm support, and a control box, the end-effector comprising a servo motor, a rotary bearing, an end-rotating joint gear, a three-way force measuring device, an end-clamp guide rail seat, a clamping fixture, and an end-rotating joint motor; the control box is used to control the start and stop of the electric cylinder, the servo motor, and the end-rotating joint motor. The present invention configures the tension field disc-changing and pulling manipulator to be a four-axis manipulator plus an end-effector. Each axis joint is independently driven by a servo reducer, capable of automatically identifying the position of the wire for positioning, grabbing, and tensioning. Furthermore, the manipulator is provided with a visual recognition function, an automatic software control system, a remote control system, and voice broadcast prompts.

Description

Technical Field

[0001] The present invention relates to the technical field of wire-laying, and in particular to a tension field-changing reel pulling mechanical arm in tension wire-laying construction. Background Art

[0002] At present, with the development of my country's economy and the advancement of science and technology, the production technology level in the field of power grid construction has also made a qualitative leap. In recent years, the voltage level has also been continuously improved. The highest AC voltage level in my country is 1000kV (Changzhi-Jingmen Line), which was put into operation on December 30, 2008. As the voltage level increases, the cross-sectional specifications of the conductors that carry it are also constantly increasing. During the tension line construction, the tension of the tension machine during operation is also constantly increasing due to factors such as the conductor cross-section and voltage level. The maximum tension can reach 70% of the rated tension of the required tension equipment. During the construction process, temporary anchoring of the conductor is required when changing the reel, or dealing with line problems, crimping the conductor, leading the conductor, and other construction processes. And according to the "Guidelines for the Construction Technology of Tension Lines for Overhead Transmission Lines Part 1: Wire Laying":

[0003] 1) The wire reel should be equipped with a brake device. The tail tension should not be too high to prevent excessive interlayer compression of the wire on the delivery reel and violent vibration during deployment. It should not be too low to prevent the wire from sliding on the main pulley and loosening on the wire delivery reel. The tail tension of the wire should be between 1000N and 5000N.

[0004] 2) During the centralized crimping operation procedure, it is necessary to temporarily anchor the tail wire (the anchoring force is the tension at the tail of the wire) when cutting the remaining wires and connecting them to the mesh connector.

[0005] The current anchoring method used during reel changes at the tensioning station is designed to prevent "rope slippage" when there are too few conductors on the payout rack, resulting in low tension and excessive pulling force on the tensioner's outlet. After the tensioner operator receives the stop signal and stops the tensioner, they manually pull the tail rope and temporarily anchor it using a wire gripper. Installing and removing the gripper before and after the mesh connection is complete requires at least three to five people. These personnel are also required to maintain tension during the tensioner's shutdown and, after replacing the new reel and removing the gripper, maintain tension and release it into the air. The tensioner is currently hydraulic. Overheating of the hydraulic oil during continuous operation and damage to the valve block during operation can reduce or even eliminate tension, leading to wire slippage. In serious cases, this can result in a serious safety accident. Summary of the Invention

[0006] The purpose of the present invention is to provide a tension field changing disc pulling mechanical arm based on tension wire pay-off construction, which can solve the failure phenomenon of hydraulic wire pay-off frame, replace tedious manual operations, improve the safety factor of construction operations, reduce manual labor, and improve the automation level of tension wire pay-off machinery.

[0007] The technical solution adopted in the present invention is:

[0008] A tension field reel-changing and pulling mechanical arm based on tension pay-off construction comprises a base, a mechanical arm unit arranged on the base, and an end actuator arranged on the top of the mechanical arm unit. The mechanical arm unit comprises a support rod and a rotary bearing arranged at the upper end of the support rod. The rotary bearing is provided with an electric cylinder articulated support, a main arm support, and a control box. The electric cylinder articulated support is used to fix the bottom of the electric cylinder, and the main arm support is used to fix the bottom of the main arm. The top of the electric cylinder is hingedly arranged with the upper part of the main arm. When the electric cylinder is extended or retracted, the angle between the main arm and the electric cylinder can be changed, and the highest point position of the main arm is changed at the same time.

[0009] The end actuator includes a servo motor, a rotary bearing, an end rotary joint gear, a three-axis force measuring device, an end fixture guide rail seat, a clamping fixture and an end rotary joint motor. The servo motor is fixed to the mounting hole on the main arm, the rotary bearing is fixed to the servo motor, and the output shaft of the servo motor passes through the rotary bearing, the end rotary joint gear, the three-axis force measuring device and the end fixture guide rail seat and the clamping fixture in sequence. The end rotary joint motor is fixed to one side of the rotary bearing, and its output shaft is engaged with the end rotary joint gear for driving;

[0010] The control box is used to control the start and stop of the electric cylinder, servo motor and end rotary joint motor.

[0011] The lower end of the support rod and the base are movably arranged.

[0012] The base includes a bottom joint drive motor, a rack, a connecting flange pipe, a steel wheel, a steel wheel guide rail and a robotic arm base. The bottom joint drive motor is fixedly arranged on the connecting flange pipe, and the output shaft of the bottom joint drive motor is engaged with the rack; the steel wheel is fixedly arranged at the bottom of the connecting flange pipe and cooperates with the steel wheel guide rail to realize the movement of the connecting flange pipe on the base under the cooperation of the bottom joint drive motor and the rack, thereby realizing the movement of the end actuator.

[0013] It also includes a dustproof telescopic cover, one end of which is fixed to one end of the base, and the other end is fixed to one side of the connecting flange pipe fitting. When the connecting flange pipe fitting moves to the end of the other end of the base, the dustproof telescopic cover plate and the connecting flange pipe fitting realize a sealed cover box for the base.

[0014] There are two mechanical arm units, and the two mechanical arm units are arranged in parallel on the base.

[0015] It also includes a special-shaped connecting flange pipe fitting, the bottom of the special-shaped connecting flange pipe fitting is fixedly connected to the connecting flange pipe fitting, and the top is fixed to the rotating bearing. The special-shaped connecting flange pipe fitting is a pipe fitting with a certain inclination angle to the vertical direction. When used for multiple robotic arm units, the size of the base can be reduced without affecting the use.

[0016] It also includes a visual system, which includes a binocular camera and a development computer version. The output end of the development computer version is connected to the control input end of the control box.

[0017] It also includes a limited self-locking structure, which is a mechanical self-locking spring pin structure, consisting of a D-type spring positioning pin assembly, a fixed guide circular hole plate, a steel wire rope, and a pull ring. The D-type spring positioning pin assembly is fixedly arranged on the end clamp guide rail seat, and is used to limit and tighten the clamping mechanism after clamping the wire.

[0018] The clamping fixture is fixedly provided with an anti-skid layer, and the anti-skid layer is provided with a plurality of lines.

[0019] A plurality of spiral piles are also provided under the base for fixing the device as a whole.

[0020] The present invention utilizes a tension field exchange and pulling manipulator consisting of a four-axis manipulator and an end effector. Each axis joint is independently driven by a servo reducer, automatically identifying the conductor's position for positioning, grasping, and tensioning. Furthermore, the system incorporates visual recognition capabilities, an automatic software control system, a remote control system, and voice prompts. The automatic software control system visually recognizes the conductor's spatial position information, analyzes the data via a computer board, and controls the motor to grasp the conductor and apply a pre-set tension. The remote control system uses a remote controller to manually observe the conductor's position and perform grasping and tensioning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the terminal execution structure of the present invention;

[0024] Figure 3 Schematic diagram of the structure of the position limiting self-locking structure of the present invention;

[0025] Figure 4 This is a schematic structural diagram of the main arm rotation joint of the present invention;

[0026] Figure 5 This is a schematic structural diagram of the middle rotary joint of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the base movement of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0029] like Figure 1 、 2 As shown in Figure 3, the present invention includes a base 11, a robotic arm unit arranged on the base 11, and an end actuator 6 arranged on the top of the robotic arm unit. The robotic arm unit includes a support rod 10 and a rotating bearing base 9 arranged at the upper end of the support rod 10. The rotating bearing base 9 is provided with an electric cylinder articulated support 35, a main arm support 36 and a control box 5. The electric cylinder articulated support 35 is used to fix the bottom of the electric cylinder 4, and the main arm support 36 is used to fix the bottom of the main arm 7. The top of the electric cylinder 4 is hinged to the upper part of the main arm 7. When the electric cylinder 4 is extended or retracted, the angle between the main arm 7 and the electric cylinder 4 can be changed, and the highest point position of the main arm 7 is changed at the same time.

[0030] In actual use, the above structure constitutes the main arm rotation joint. The electric cylinder 4 of the main arm rotation joint structure is hinged to the main arm 7, which pushes the main arm 7 to provide a predetermined constant tension value on the wire. The main arm 7 is connected to the main arm support 36 welded to the rotating bearing base 9. The bearing is installed at the connection and cooperates with the electric cylinder 4 to form this joint. The specific structure of the rotating bearing base 9 is as follows Figure 5 The components shown are bolted or welded together to form the central rotating member. A central rotating motor 15 drives a toothed rotating bearing 13, forming a joint for adjusting the angle between the end fixture and the wire. The main control box 5 integrates electronic components such as the servo motor controller and development computer board, ensuring accurate and reliable data and smooth and coordinated movement of each joint.

[0031] The end actuator 6 includes a servo motor 21, a rotary bearing 22, an end rotary joint gear 23, a three-axis force measuring device 24, an end fixture guide rail seat 25, a clamping fixture 26 and an end rotary joint motor 2. The servo motor is fixed to the mounting hole on the main arm 7, the rotary bearing 22 is fixed to the servo motor 21, and the output shaft of the servo motor 21 passes through the rotary bearing 22, the end rotary joint gear 23, the three-axis force measuring device 24 and the end fixture guide rail seat 25 and the clamping fixture 26 in sequence for driving. The end rotary joint motor 2 is fixed to one side of the rotary bearing 22, and its output shaft is engaged with the end rotary joint gear for driving; Figure 2 As shown, when the end actuator in the present application is actually used, some components are connected in sequence by bolts, and the rotary bearing 22 and the end rotary motor 28 are installed in the reserved position at the end of the main arm. The rotary bearing 22 enables the end actuator to form a follow-up state with the conductor, protecting the conductor while providing tension. The XYZ three-axis force measuring device 4 can monitor the tension value in real time to ensure that the tail rope tension is within the appropriate range. A layer of nylon gasket is embedded on the inside of the clamping fixture 7 to increase the friction coefficient between the clamp and the conductor and protect the conductor in the clamping part. The clamping port has a guiding function to make it easier for the conductor to enter the predetermined clamping groove. The end rotary motor 8 can adjust the angle between the end clamp and the conductor to make it easier for the conductor to enter the clamping groove.

[0032] The control box 5 is used to control the start and stop of the electric cylinder 4, the servo motor 21 and the end rotary joint motor 2. It can be well operated to realize on-site operation, and can also be used with remote control to realize remote control operation. The specific technology is mature and will not be repeated here.

[0033] Multiple screw piles 12 are installed beneath the base 11 to secure the entire device. The lower end of the support rod 10 and the base 11 are removably mounted. This fixed structure ensures overall stability and operational stability. However, during operation, actions such as line gripping often require fine-tuning, so achieving this fine-tuning remains a technical challenge that needs to be addressed.

[0034] The base 11 includes a bottom joint drive motor 43, a rack 44, a connecting flange pipe 45, a steel wheel 46, a steel wheel guide rail 48 and a robotic arm base body. The bottom joint drive motor is fixedly arranged on the connecting flange pipe 45, and the output shaft of the bottom joint drive motor is meshed with the rack 44; the steel wheel 46 is fixedly arranged at the bottom of the connecting flange pipe 45 and is cooperated with the steel wheel guide rail 48 to realize the movement of the connecting flange pipe on the base under the cooperation of the bottom joint drive motor and the rack, thereby realizing the movement of the end actuator.

[0035] In actual use, such as Figure 6The bottom movable joint is shown as consisting of a special-shaped connecting flange fitting, a bottom joint drive motor, a rack, a connecting flange fitting, a steel wheel, a limit beam, a steel wheel guide rail, a manipulator base, and a dustproof telescopic cover. The lower plate of the manipulator base 11 is connected to a ground stake 12, ensuring the manipulator's stable position on the ground for reliable operation. A dustproof telescopic cover 49 covers the upper surface to protect the interior. The bottom joint drive motor 43 is mounted inside the connecting flange fitting 45, meshing with a rack 44 on the bottom. The motor moves along a bottom guide rail 48 via a steel wheel 46, adjusting the position of the manipulator relative to the wires and placing the manipulator in the desired position. In actual use, a limit beam 47 is also provided to limit the edge of the connecting flange fitting 45 to prevent the manipulator from tipping over.

[0036] It also includes a dustproof telescopic cover 49, one end of which is fixed to one end of the base 11, and the other end is fixed to one side of the connecting flange pipe 45. When the connecting flange pipe is moved to the end of the other end of the base, the dustproof telescopic cover and the connecting flange pipe realize a sealed cover box for the base.

[0037] There are two robotic arm units, which are arranged in parallel on the base. In actual use, the use of multiple robotic arm units can make the line laying more stable, and multiple forces can be applied on the same base, which has a better effect.

[0038] In actual use, it also includes a special-shaped connecting flange pipe fitting 42. The bottom of the special-shaped connecting flange pipe fitting 42 is fixedly connected to the connecting flange pipe fitting 45, and a flange plate 41 is provided on the top for fixing to the rotating bearing base 9. The special-shaped connecting flange pipe fitting is a pipe fitting with a certain inclination angle to the vertical direction. When used for multiple robotic arm units, the size of the base can be reduced without affecting the use.

[0039] During actual use, a visual system 1 is also included, and the visual system 1 includes a binocular camera and a development computer version, and the output end of the development computer version is controlled to connect the control input end of the control box. In this application, the visual system is composed of a binocular camera and a development computer board. Through the early calibration of various types of wires by the binocular camera, the wire information is recorded in the development computer board. During use, the binocular camera identifies the wires within the range and obtains spatial position information. After processing by the development computer board, the main control box controls each joint motor to grab the wire, and applies a set constant tension to the wire after clamping. Through the cooperation of the visual system and the robotic arm of this application, it is possible to realize automatic tension release and reel changing and pulling, which can further save manpower and realize automation.

[0040] The clamp also includes a limited self-locking structure, which is a mechanical self-locking spring pin structure consisting of a D-shaped spring positioning pin assembly 31, a fixed guide circular hole plate 32, a steel wire rope 33, and a pull ring 34. The D-shaped spring positioning pin assembly 31 is fixed to the end clamp guide rail seat 25 and is used to limit and tighten the clamping mechanism after clamping the wire to prevent human error and ensure the safety of construction operations.

[0041] In actual use, the clamping fixture 27 is fixed with an anti-slip layer with multiple textures. This increases the friction coefficient between the fixture and the traction rope. The end rotary motor can adjust the angle between the end fixture and the traction rope to make it easier for the traction rope to enter the clamping groove.

[0042] The present invention is mainly used for the operation of pulling the conductor when changing the reel in the tension field, which helps to reduce the intensity of manual labor and improve the automation level of tension wire laying construction machinery. Improve work efficiency and work safety factor. The specific action steps are: the operator installs a number of spiral ground piles 12 according to the actual use situation through a special spiral ground pile installation device, and installs the whole equipment at the appropriate position at the tail of the tension machine. The automatic software control system obtains the spatial position information of the conductor through a visual camera. After analysis and processing by the computer board in the main control box 5, the servo motors of each joint are driven to move each joint so that the conductor enters the clamping mouth of the end actuator 6 and clamps the conductor. After clamping, the electric cylinder 4 is controlled to push the main arm 7 to apply the set tension value to the conductor. In the remote control system, the operator uses the remote control to clamp and tension the conductor based on the spatial position of the conductor, and the tension value is viewed on the display panel on the remote control.

[0043] This invention uses an intelligently controlled multi-axis robotic arm to tension the tensioner's tail rope, maintaining constant tension and monitoring it in real time. A mechanical self-locking device ensures safety after tensioning. This effectively reduces the workload for construction workers, prevents wire "rope slippage," and ensures worker safety. It also improves the automation level of tension pay-off machinery.

[0044] In the description of the present invention, it should be noted that for directional words, such as the terms "center", "horizontal", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like, indicating directions and positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present invention.

[0045] It should be noted that the terms "including" and "having" and any variations thereof in the description and claims of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or apparatuses.

[0046] Note that the above are only preferred embodiments of the present invention and the principles of the technology used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in detail through the above embodiments, the present invention is not limited to the specific embodiments described herein. Without departing from the concept of the present invention, it may also include many other effective embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A tension field-changing and pulling mechanical arm based on tension pay-off construction, characterized by: It includes a base, a mechanical arm unit arranged on the base, and an end actuator arranged on the top of the mechanical arm unit. The mechanical arm unit includes a support rod and a rotary bearing arranged at the upper end of the support rod. The rotary bearing is provided with an electric cylinder hinge support, a main arm support and a control box. The electric cylinder hinge support is used to fix the bottom of the electric cylinder, and the main arm support is used to fix the bottom of the main arm. The top of the electric cylinder is hinged to the upper part of the main arm. When the electric cylinder is extended or retracted, the angle between the main arm and the electric cylinder can be changed, and the highest point position of the main arm can be changed at the same time. The end actuator includes a servo motor, a rotary bearing, an end rotary joint gear, a three-axis force measuring device, an end fixture guide rail seat, a clamping fixture and an end rotary joint motor. The servo motor is fixed to the mounting hole on the main arm, the rotary bearing is fixed to the servo motor, and the output shaft of the servo motor passes through the rotary bearing, the end rotary joint gear, the three-axis force measuring device and the end fixture guide rail seat and the clamping fixture in sequence. The end rotary joint motor is fixed to one side of the rotary bearing, and its output shaft is engaged with the end rotary joint gear for driving; The base includes a bottom joint drive motor, a rack, a connecting flange pipe, a steel wheel, a steel wheel guide rail and a robotic arm base. The bottom joint drive motor is fixedly arranged on the connecting flange pipe, and the output shaft of the bottom joint drive motor is meshed with the rack; the steel wheel is fixedly arranged at the bottom of the connecting flange pipe and cooperates with the steel wheel guide rail to realize the movement of the connecting flange pipe on the base under the cooperation of the bottom joint drive motor and the rack, thereby realizing the movement of the end actuator; The control box is used to control the start and stop of the electric cylinder, servo motor and end rotary joint motor.

2. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 1 is characterized in that: The lower end of the support rod and the base are movably arranged.

3. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 1 is characterized in that: It also includes a dustproof telescopic cover, one end of which is fixed to one end of the base, and the other end is fixed to one side of the connecting flange pipe fitting. When the connecting flange pipe fitting moves to the end of the other end of the base, the dustproof telescopic cover plate and the connecting flange pipe fitting realize a sealed cover box for the base.

4. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 2 is characterized in that: There are two mechanical arm units, and the two mechanical arm units are arranged in parallel on the base.

5. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 4 is characterized in that: It also includes a special-shaped connecting flange pipe fitting, the bottom of the special-shaped connecting flange pipe fitting is fixedly connected to the connecting flange pipe fitting, and the top is fixed to the rotating bearing. The special-shaped connecting flange pipe fitting is a pipe fitting with a certain inclination angle to the vertical direction. When used for multiple robotic arm units, the size of the base can be reduced without affecting the use.

6. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to any one of claims 1 to 5, characterized in that: It also includes a visual system, which includes a binocular camera and a development computer version. The output end of the development computer version is controlled and connected to the control input end of the control box.

7. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 6 is characterized in that: It also includes a limited self-locking structure, which is a mechanical self-locking spring pin structure, consisting of a D-type spring positioning pin assembly, a fixed guide circular hole plate, a steel wire rope, and a pull ring. The D-type spring positioning pin assembly is fixedly arranged on the end clamp guide rail seat, and is used to limit and tighten the clamping mechanism after clamping the wire.

8. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 7 is characterized in that: The clamping fixture is fixedly provided with an anti-skid layer, and the anti-skid layer is provided with a plurality of lines.

9. The tension field-changing reel pulling mechanical arm in tension pay-off construction according to claim 8, characterized in that: A plurality of spiral piles are also provided under the base for fixing the device as a whole.

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